智能网联汽车云控系统及其实现

Cloud Control System for Intelligent and Connected Vehicles and Its Application

本文中提出了基于信息物理系统(cyber-physical system,CPS)理论的智能网联汽车云控系统概念,该系统利用新一代信息与通信技术,将人、车、路、云的物理层、信息层、应用层连为一体,进行融合感知、决策与控制,可实现车辆行驶和交通运行安全、效率等性能的综合提升。在介绍系统架构、工作原理与关键技术的基础上,研究了边缘云上融合感知技术与时变时延下车辆控制技术,开发了面向真实道路的云控系统。通过仿真与道路试验,验证了系统的云端计算、融合感知、融合决策与网联控制的性能,展示了系统实际应用的可行性与先进性。

In this paper,the concept of cloud control system for intelligent and connected vehicles is proposed based on the theory of cyber-physical system(CPS).The system uses the new generation of information and communication technologies to integrate the physical layer,cyber layer and application layer of human,vehicles,road infrastructures and cloud for integrated perception,decision-making and control to realize comprehensive improvement of vehicles and traffic safety and efficiency.Based on the introduction of the system architecture,working principle and key technologies,integrated perception technology on edge cloud and vehicle control technology under time-varying delay are studied.Furthermore,a cloud control system for real road is developed.Simulation and field test results verify the performance of cloud computing,integrated perception,decision-making,and connected control of the proposed system,which demonstrates its feasibility and superiority in application.